nav/reactive/CReactiveNavigationSystem.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2015, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CReactiveNavigationSystem_H
#define CReactiveNavigationSystem_H

#include "CAbstractPTGBasedReactive.h"

namespace mrpt
{
        /** This namespace contains classes for building a TP-Space Reactive Navigation System.
        */
  namespace nav
  {
                /** See base class CAbstractPTGBasedReactive for a description and instructions of use.
                * This particular implementation assumes a 2D robot shape.
                *
                * Publications:
                *  - Blanco, Jose-Luis, Javier Gonzalez, and Juan-Antonio Fernandez-Madrigal. "[Extending obstacle avoidance methods through multiple parameter-space transformations](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.190.4672&rep=rep1&type=pdf)." Autonomous Robots 24.1 (2008): 29-48.
                *
                * Class history:
                * - 17/JUN/2004: First design.
                * - 16/SEP/2004: Totally redesigned, according to document "MultiParametric Based Space Transformation for Reactive Navigation"
                * - 29/SEP/2005: Totally rewritten again, for integration into MRPT library and according to the ICRA paper.
                * - 17/OCT/2007: Whole code updated to accomodate to MRPT 0.5 and make it portable to Linux.
                * - DEC/2013: Code refactoring between this class and CAbstractHolonomicReactiveMethod
                *
                *  \sa CAbstractReactiveNavigationSystem, CParameterizedTrajectoryGenerator, CAbstractHolonomicReactiveMethod
                *  \ingroup mrpt_nav_grp
                */
                class NAV_IMPEXP  CReactiveNavigationSystem : public CAbstractPTGBasedReactive
                {
                public:
                        MRPT_MAKE_ALIGNED_OPERATOR_NEW
                public:
                        /** See docs in ctor of base class */
                        CReactiveNavigationSystem(
                                CReactiveInterfaceImplementation &react_iterf_impl,
                                bool enableConsoleOutput = true,
                                bool enableLogFile = false);

                        /** Destructor
                         */
                        virtual ~CReactiveNavigationSystem();

                        /** Reload the configuration from a file
                         */
                        void loadConfigFile(const mrpt::utils::CConfigFileBase &ini, const mrpt::utils::CConfigFileBase &robotIni);

                        /** Change the robot shape, which is taken into account for collision
                          *  grid building.
                          */
                        void changeRobotShape( const math::CPolygon &shape );

                        /** Returns the number of different PTGs that have been setup */
                        virtual size_t getPTG_count() const { return PTGs.size(); }

                        /** Gets the i'th PTG */
                        virtual CParameterizedTrajectoryGenerator* getPTG(size_t i)
                        {
                                ASSERT_(i<PTGs.size())
                                return PTGs[i];
                        }


                private:
                        // ------------------------------------------------------
                        //                                      PRIVATE VARIABLES
                        // ------------------------------------------------------
                        float   minObstaclesHeight, maxObstaclesHeight; // The range of "z" coordinates for obstacles to be considered

                        /** The robot 2D shape model */
                        math::CPolygon          m_robotShape;

                        /** The set of transformations to be used:
                          */
                        std::vector<CParameterizedTrajectoryGenerator*> PTGs;

                        // Steps for the reactive navigation sytem.
                        // ----------------------------------------------------------------------------
                        virtual void STEP1_CollisionGridsBuilder();

                        // See docs in parent class
                        virtual bool STEP2_SenseObstacles();

                        // See docs in parent class
                        virtual void STEP3_WSpaceToTPSpace(const size_t ptg_idx,std::vector<float> &out_TPObstacles);

                        /** Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep */
                        virtual void loggingGetWSObstaclesAndShape(CLogFileRecord &out_log);


                        mrpt::maps::CSimplePointsMap m_WS_Obstacles;  //!< The obstacle points, as seen from the local robot frame.

                }; // end class
        }
}


#endif